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*
* Software License Agreement (BSD License)
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H
#define ROTATE_RECOVERY_ROTATE_RECOVERY_H

#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/buffer.h>
#include <base_local_planner/costmap_model.h>
#include <string>

namespace rotate_recovery
{
/** 恢复行为会让机器人定点旋转一圈，尝试清除调周围的障碍物
* @class RotateRecovery
* @brief A recovery behavior that rotates the robot in-place to attempt to clear out space
*/
class RotateRecovery : public nav_core::RecoveryBehavior
{
public:
    /**
     * @brief  Constructor, make sure to call initialize in addition to actually initialize the object
     */
    RotateRecovery();

    /** 恢复行为的初始化函数
     * @brief  Initialization function for the RotateRecovery recovery behavior
     * @param name Namespace used in initialization
     * @param tf (unused)
     * @param global_costmap (unused)
     * @param local_costmap A pointer to the local_costmap used by the navigation stack 指向局部代价地图的指针
     */
    void initialize(std::string name, tf2_ros::Buffer *,
                    costmap_2d::Costmap2DROS *, costmap_2d::Costmap2DROS *local_costmap);

    /** 启动旋转恢复行为 这个函数使机器人在原地自转180度
     * @brief  Run the RotateRecovery recovery behavior.
     */
    void runBehavior();

    /**
     * @brief  Destructor for the rotate recovery behavior
     */
    ~RotateRecovery();

private:
    costmap_2d::Costmap2DROS *local_costmap_;
    bool initialized_;
    double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_;
    base_local_planner::CostmapModel *world_model_;
};
};  // namespace rotate_recovery
#endif  // ROTATE_RECOVERY_ROTATE_RECOVERY_H
